/*******************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RW_PATHPLANNING_QTOQSAMPLERPLANNER_HPP
#define RW_PATHPLANNING_QTOQSAMPLERPLANNER_HPP

/**
   @file QToQSamplerPlanner.hpp
*/
#if !defined(SWIG)
#include <rw/pathplanning/PathPlanner.hpp>
#include <rw/pathplanning/QSampler.hpp>
#endif

namespace rw { namespace pathplanning {

    /** @addtogroup pathplanning */
    /*@{*/

    /**
       @brief Sampled region planner interface.

       QToQSamplerPlanner plans a configuration space path from a start
       configuration to any configuration in the set represented by a sampler.
    */
    class QToQSamplerPlanner : public PathPlanner< rw::math::Q, QSampler >
    {
      public:
        //! @brief smart pointer type to this class
        typedef rw::core::Ptr< QToQSamplerPlanner > Ptr;
    };

    /*@}*/
}}    // namespace rw::pathplanning

#endif    // end include guard
